diff --git a/urdf/rplidar.urdf.xacro b/urdf/rplidar.urdf.xacro
new file mode 100644
index 00000000..f997fbaa
--- /dev/null
+++ b/urdf/rplidar.urdf.xacro
@@ -0,0 +1,92 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ true
+ ${update_rate}
+ 0 0 0 0 0 0
+ false
+
+
+
+ ${samples}
+ ${resolution}
+ ${min_angle}
+ ${max_angle}
+
+
+
+ ${min_range}
+ ${max_range}
+ 0.01
+
+
+
+ 0.005
+ true
+ ${update_rate}
+ ${ros_topic}
+ ${link}
+
+
+
+
+
\ No newline at end of file
diff --git a/urdf/rplidar_A2.urdf.xacro b/urdf/rplidar_A2.urdf.xacro
new file mode 100644
index 00000000..ebe2e702
--- /dev/null
+++ b/urdf/rplidar_A2.urdf.xacro
@@ -0,0 +1,8 @@
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/urdf/stl/rplidar_a2_simple.stl b/urdf/stl/rplidar_a2_simple.stl
new file mode 100644
index 00000000..4ebbddaa
Binary files /dev/null and b/urdf/stl/rplidar_a2_simple.stl differ